Route generation system, route generation method, route generation device, and program

Abstract

The present invention provides a route generation system that generates a route for improving the efficiency of the movement of a moving body. Provided is a route generation system (10) comprising: a calculation means (11) for calculating, for each region constituting a location where a moving body moves, points to be added to points corresponding to the distance the moving body moves to the region, in accordance with the frequency at which an obstacle appears in the region; and a route generation means (12) for generating a route on which the moving body moves, in accordance with the points added to the region. The calculation means calculates such that the greater the number of times there is a change as to whether or not the obstacle exists in the region, the more points are added.

Description

Route generation system, route generation method, and route generation device

[0001] The present disclosure relates to a route generation system, a route generation method, and a route generation device.

[0002] Patent Document 1 describes a method for controlling a mobile body that generates a movement path for the mobile body in accordance with the movement of an obstacle and takes evasive action even when a dynamic obstacle is present. Patent Document 1 describes that an obstacle sensor attached to the ceiling surface sequentially detects the position of the obstacle and sends the detected position to a control device. The control device described in Patent Document 1 generates a stochastic potential field that represents the probability that the obstacle may exist based on the obstacle position information, and adds a gradient toward a target position to the stochastic potential field. Patent Document 1 also describes searching for a path toward a target position based on the slope of the gradient-added stochastic potential field, and moving the mobile body along that path.

[0003] Japanese Patent Application Laid-Open No. 2003-241836

[0004] In Patent Literature 1, when evaluating dynamic obstacles, the position of the obstacles is predicted and a path for a moving object is generated. However, if a path for a moving object is generated in accordance with the detected obstacle every time an obstacle is detected, the efficiency of the movement of the moving object may not be improved. Therefore, an object of the present disclosure is to provide a path generation system that generates a path that improves the efficiency of the movement of a moving object.

[0005] The route generation system of the present disclosure is a route generation system that includes: a calculation means that calculates, for each area that constitutes a location where a moving body moves, points to be added to points corresponding to the distance that the moving body moves to the area, depending on the frequency with which an obstacle is present in the area; and a route generation means that generates a route along which the moving body will move, depending on the points added to the area.

[0006] The route generation method of the present disclosure is a route generation method that calculates, for each area that constitutes a location where a moving body moves, points to be added to points corresponding to the distance that the moving body moves to the area, depending on the frequency with which obstacles are present in the area, and generates a route for the moving body to move based on the points added to the area.

[0007] The route generation device of the present disclosure is a route generation device that includes: a calculation means that calculates, for each area that constitutes a location where a moving body moves, points to be added to points corresponding to the distance that the moving body moves to the area, depending on the frequency with which an obstacle is present in the area; and a route generation means that generates a route along which the moving body will move, depending on the points added to the area.

[0008] The present disclosure provides a route generation system that generates a route that improves the travel efficiency of a moving object.

[0009] 1 is a block diagram showing a configuration of a route generation system according to an embodiment; FIG. 2 is a block diagram showing a configuration of a route generation device according to an embodiment; FIG. 3 is a flowchart of a route generation method according to an embodiment; FIG. 4 is a block diagram showing a configuration of a route generation system according to a first embodiment; FIG. 5 is a schematic diagram showing a configuration of a route generation system according to a first embodiment; FIG. 6 is a diagram showing the entropy of an obstacle according to a first embodiment; and FIG. 7 is a diagram showing a route generated by a related method according to a first embodiment and a route generated by a method of the present disclosure.

[0010] (Embodiments) Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are assigned the same reference numerals, and duplicate explanations are omitted as necessary.

[0011] (Description of a route generation system and a route generation device according to an embodiment) Fig. 1 is a block diagram showing a configuration of a route generation system according to an embodiment. Fig. 2 is a block diagram showing a configuration of a route generation device according to an embodiment. The route generation system and the route generation device according to an embodiment will be described with reference to Figs. 1 and 2 .

[0012] 1 , a route generation system 10 according to an embodiment includes a calculation unit 11 and a route generation unit 12. The calculation unit 11 and the route generation unit 12 can also be interpreted as a calculation means and a route generation means. The route generation system 10 is a system that generates a route for a moving object.

[0013] For each area constituting the location where the moving object 410 moves, the calculation unit 11 calculates points to be added to the points corresponding to the distance that the moving object 410 moves to that area, depending on the frequency with which an obstacle was present in the area. The "frequency with which an obstacle was present in an area" may be the number of times an obstacle was present in the area out of the number of times it was detected whether or not an obstacle was present in the area, or may be the ratio of the number of times it was detected whether or not an obstacle was present in the area to the number of times an obstacle was present in the area. Furthermore, the "frequency with which an obstacle was present in an area" may be the ratio of the time an obstacle was present in the area to a predetermined period.

[0014] An area refers to a partition into which the location where the mobile object moves is divided. For example, if a room in which the mobile object moves is divided into a grid, an area is one of the partitions that make up one of the divided rooms. The location where the mobile object moves is not particularly limited, and may be, for example, a factory, a restaurant, a warehouse, or a construction site.

[0015] The point corresponding to the distance traveled by the moving object 410 to the area is determined by taking into consideration, for example, the distance. The point corresponding to the distance traveled by the moving object 410 to the area may also take into consideration, in addition to or in addition to the distance, factors such as gradients, curves, the time required for the moving object to travel, and the presence or absence of obstacles. The moving object 410 is, for example, a transport robot, an AGV, an AMR, a forklift, heavy machinery, a drone, or the like. The calculation unit 11 calculates the point corresponding to the distance traveled by the moving object 410 to a location.

[0016] The obstacles in the "frequency of the presence of an obstacle in an area" are not limited to a specific obstacle. The obstacle may be a person, a mobile robot such as an AGV or AMR, an animal, luggage, a shelf, a wall, or a pillar. Furthermore, if a person passes through an area and then a mobile robot passes through, it may be considered that an obstacle was present without distinguishing between the person and the mobile robot.

[0017] In particular, the calculation unit 11 not only adds points when an obstacle is present in an area, but also calculates the points to be added depending on the frequency with which the obstacle was present in the area. For example, the points to be added may be increased as the ratio of the number of times it was detected whether an obstacle was present in the area to the number of times the obstacle was present in the area approaches 2:1. Also, for example, the points to be added may be increased as the ratio of the time during which the obstacle was present in the area to the predetermined period approaches 2:1. Also, for example, the points to be added may be decreased if an obstacle continued to be present in the area during the predetermined period during which it was detected whether an obstacle was present in the area, or if no obstacle was present in the area.

[0018] When changing the points corresponding to the distance traveled to an area depending on whether or not an obstacle is present, the more points may be added the more frequently an obstacle is present in the area. In some cases, as a safety measure, pedestrian walkways and other walkways are separated in factories, warehouses, and other similar sites. From the perspective of a moving object, for example, a pedestrian walkway is an area where obstacles frequently exist because people frequently pass through it.

[0019] The route generating unit 12 generates a route for the moving object 410 to travel in accordance with the points added to the areas. It is preferable that the route generating unit 12 generates a route such that the moving object 410 travels along a route that has the lowest total point total of the areas that the moving object 410 passes through from the movement start point to the movement end point.

[0020] The route generation system is configured with an information processing device. The information processing device includes a processor (e.g., a CPU (Central Processing Unit)) that executes a program to process information, and a memory that stores the program. The information processing device may be a single device, or may be configured using multiple devices. When configured as a single information processing device, it is configured as a route generation device 20 that includes a calculation unit 21 and a route generation unit 22, as shown in FIG. 2. The information processing device may be configured as a cloud server that distributes and processes some or all of its functions.

[0021] FIG. 3 is a flowchart of a route generation method according to an embodiment. For example, the route generation method according to the embodiment is executed by the route generation system of FIG. 1. As shown in FIG. 3, first, points are calculated (step S31). Specifically, for each area constituting the location where the mobile object 410 moves, points to be added to the points corresponding to the distance the mobile object 410 moves into the area are calculated according to the frequency with which an obstacle is present in the area. Next, a route is generated (step S32). Specifically, a route for the mobile object 410 to move is generated according to the points added to the area.

[0022] As described above, the route generation system 10 according to the embodiment generates a route for a mobile object based on the frequency with which an obstacle has been present. Therefore, the route generation system 10 can generate a route, for example, for an area where no obstacles exist at the time of route generation, taking into account the risk of an obstacle appearing. For example, in related technologies that perform a detour every time an obstacle is detected, the mobile object may detour upon detecting an obstacle, potentially lengthening the travel distance and travel time of the mobile object beyond what was expected. However, in the case of the route generation system 10 according to the embodiment, for example, by generating a route that avoids areas where the appearance of obstacles is unstable, the number of unexpected detours by the mobile object may be reduced, thereby improving the efficiency of the mobile object's travel.

[0023] Furthermore, for example, if the ratio of the number of times an obstacle is detected in an area to the number of times the obstacle was present in the area, or the ratio of the time the obstacle was present in the area to a predetermined period, is close to 2:1, it is considered that the probability of the obstacle being present in the area over time is unstable. By setting many points in areas where the probability of the obstacle being present over time is unstable, a route can be generated that avoids areas where changes are likely to occur. By generating a route that travels through areas with little change and avoids areas where changes are likely to occur, the mobile body can travel stably. For example, by generating a detour route to avoid an obstacle that appears after route generation while the mobile body is operating, the possibility of a sudden change in the mobile body's operation is reduced.

[0024] (Description of a Route Generation System According to a First Embodiment) A route generation system according to a first embodiment will be described with reference to Figs. 4 to 7 . Fig. 4 is a block diagram showing the configuration of a route generation system according to a first embodiment. Fig. 5 is a schematic diagram showing the configuration of a route generation system according to a first embodiment. Fig. 6 is a diagram showing the entropy of obstacles according to a first embodiment. Fig. 7 is a diagram showing a route generated by a related method according to the first embodiment and a route generated by a method of the present disclosure.

[0025] 4 , the route generation system 400 according to the first embodiment includes a sensor device 401, a management device 404, and a mobile object 410. The sensor device 401 includes an obstacle information acquisition unit 402 and a communication unit 403. The management device 404 includes a communication unit 405, an obstacle information storage unit 406, an obstacle statistics calculation unit 407, a transportation instruction generation unit 408, and a route generation unit 409. The mobile object 410 includes a communication unit 411 and a control unit 412.

[0026] 5 , the obstacle information acquisition unit 402 is an imaging device such as a surveillance camera mounted on a ceiling, a pillar, etc. The surveillance camera mounted on a ceiling, a pillar, etc. captures images of obstacles such as people 502, 503, and objects 501 moving on the ground 504 from above. The obstacle information acquisition unit may detect the objects 501, people 502, and people 503 by image recognition using AI (artificial intelligence) or the like.

[0027] As shown in FIG. 4 , the communication unit 403 is connected to the communication unit 405 of the management device 404. The connection method may be wired or wireless, but it is preferable that the communication unit 403 is disposed in the facility equipment as a wired connection. The communication unit 403 transmits the obstacle information acquired by the obstacle information acquisition unit 402 to the communication unit 405. The obstacle information is information about a detected obstacle, and includes at least information about the position of the obstacle. The obstacle information may also be an image or video captured by an imaging device, or information about the position coordinates of the obstacle. The obstacle information may also include object information about the obstacle.

[0028] As shown in FIG. 4 , the communication unit 405 transmits obstacle information to the obstacle information storage unit 406. The obstacle information storage unit 406 constitutes a cyber-physical system that constructs a digital twin and stores object information related to the obstacle. The object information related to the obstacle includes the type of obstacle, the probability of the obstacle type, and the predictability of the obstacle. The obstacle type is a classification of the obstacle, such as a forklift, a person, or an AGV. The probability of the obstacle type represents the reliability or probability of the obstacle classification. For example, the probability that the type of the detected obstacle is a forklift is 70% and the probability that it is an AGV is 30%. The predictability of the obstacle includes information such as the fact that an AGV moves regularly in one direction and therefore its movement is easy to predict, while a person moves randomly around the surroundings and therefore its movement is difficult to predict. When the obstacle information is an image or video captured by an imaging device, the obstacle information storage unit 406 may perform image recognition or the like based on the captured image or video to acquire the object information related to the obstacle. The obstacle information storage unit 406 stores at least the type of obstacle.

[0029] As shown in Fig. 4, the obstacle information storage unit 406 transmits at least information regarding the position of the obstacle to the obstacle statistics calculation unit 407. The obstacle information storage unit 406 may transmit object information regarding the obstacle in addition to the information regarding the position of the obstacle to the obstacle statistics calculation unit 407. As shown in Fig. 5, the obstacle statistics calculation unit 407, for example, defines the location where the obstacle travels as a grid-like area. Then, the object 501 can be displayed as, for example, 9 squares, the person 502 as 1 square, and the person 503 as 1 square.

[0030] Obstacles such as pillars and equipment do not move, but obstacles such as people and transport vehicles do. As shown in Figure 6, assume that at time t0 there is a stationary object of four squares and two objects of one square each that move in the direction of the arrows. At time t1, the moving object of one square moves in the direction of the arrows. At time t2, the moving object of one square also moves in the direction of the arrows.

[0031] Here, the obstacle statistics calculation unit 407 calculates entropy Hb, which is a statistic for each grid cell, according to the frequency with which an obstacle exists in the area. The entropy function for a certain grid cell at time t is expressed by the following equation (1):

[0032] Probability p ｔ is expressed by equation (2) using the presence or absence of an obstacle α for a predetermined n steps, where α is 1 if there is an obstacle and 0 if there is no obstacle.

[0033] In the area represented by the dotted line in FIG. 6 , an obstacle always exists, and its entropy is 0. Also, in the area represented by the dashed-dotted line in FIG. 6 , no obstacle always exists, and its entropy is 0. In the area represented by the two-dot-dash grid line in FIG. 6 , the presence or absence of an obstacle frequently changes, and its entropy is the highest. The points corresponding to the distance traveled by the moving object 410 to the area represented by the dotted line are high, but no points are added. Also, the points corresponding to the distance traveled to the area represented by the dashed-dotted grid line in FIG. 6 are few, and no points are added. In the area represented by the two-dot-dotted grid line in FIG. 6 , the points corresponding to the distance traveled to the area are few, but the points added are the highest.

[0034] By calculating this entropy, it is possible to calculate points to be added to points corresponding to the distance the moving object moves into the area depending on the frequency with which an obstacle is present. For example, the more times the presence or absence of an obstacle in the area changes, the more points can be added.

[0035] Furthermore, the movement of obstacles changes depending on the time period. For example, in a factory, the movement of obstacles changes between when parts are delivered in the morning and when parts are assembled in the afternoon. Therefore, it is preferable to calculate entropy for each time period. Furthermore, when calculating entropy, any time interval can be used. After calculating entropy for a certain period in a certain time period, entropy for a period three times that period can be calculated in another time period.

[0036] Furthermore, the frequency of an obstacle's presence in an area is converted into a frequency using a frequency analysis method such as a fast Fourier transform (FFT).The number of points to be added may be increased as the frequency of an obstacle's presence in the converted area increases.When the movement of an obstacle is converted into a frequency, the more frequently the movement occurs, the more high-frequency components appear.

[0037] When using the fast Fourier transform, a high-pass filter or a low-pass filter is used depending on the situation. Using a low-pass filter emphasizes slow-moving obstacles. When there is a lot of noise and the entropy is too high, a low-pass filter is used. In the opposite case, a high-pass filter is used. Using a high-pass filter emphasizes fast-moving obstacles. After using a low-pass filter, high-pass filter, or high-frequency emphasis filter, a discrete Fourier transform (DFT) is performed.

[0038] Using a fast Fourier transform, the periodicity of obstacle appearances in a certain region can be identified, and if the period of obstacle appearances is short, the points can be set large, since obstacles often appear in that region.

[0039] Instead of entropy, a graph with the probability of existence on the horizontal axis and the change in existence over time on the vertical axis may follow a rectangular, triangular, or trapezoidal graph with the horizontal axis as the base where the probability of existence is near 0 or 1 and changes little over time.

[0040] Furthermore, the obstacle statistics calculation unit 407 adds points according to information about the type of obstacle that existed in the area. The obstacle statistics calculation unit 407 can change the points to be added to the area according to the object information in the obstacle information storage unit 406. Points can be added to the area according to the type of obstacle, such as an immovable obstacle such as a pillar, an obstacle that moves according to a rule such as another moving object, or an obstacle whose movement is difficult to predict such as a person.

[0041] The transport instruction generating unit 408 instructs the transport destination to the obstacle statistics calculating unit 407. The obstacle statistics calculating unit 407 calculates points corresponding to the distance that the moving object moves toward the transport destination.

[0042] The route generation unit 409 generates a route for the moving object 410 to travel based on the points calculated in this manner. For example, the route generation unit 409 generates a route with the fewest points. In a related route generation system, as shown in the upper diagram of Fig. 7, the shortest route is generated by avoiding obstacles on the spot without taking pedestrian walkways into consideration. In the route generation system of the present disclosure, as shown in the lower diagram of Fig. 7, a route with few changes can be generated by avoiding pedestrian walkways with heavy pedestrian traffic.

[0043] The path generation unit 409 may generate a path for the moving object by adding points to adjacent areas adjacent to a certain area when the points to be added to that area are greater than a first threshold. Adjacent areas constitute the locations where the moving object travels. An area where obstacles change frequently is likely to have obstacles in its adjacent areas as well. Therefore, it is preferable to add points to the adjacent area when the points to be added are greater than a predetermined first threshold. Points may also be added to the adjacent area depending on the predictability of obstacles detected in the certain area. For example, if a predetermined percentage or more of the obstacles detected in the certain area are people, more points may be added to the adjacent area than if a predetermined percentage or more of the obstacles detected in the certain area are AGVs.

[0044] Furthermore, the path generating unit 409 regenerates the path for the moving body 410 in response to a change in the frequency of the presence of an obstacle in the area used in calculating the points to be added exceeding a second threshold. If the frequency of the presence of an obstacle in the area used in calculating the points to be added changes, it is possible that the pattern in which obstacles exist in the area has changed. By regenerating the path for the moving body 410 in response to a change in the pattern in which obstacles exist, the path can be reset in real time in response to the change in the pattern in which obstacles exist.

[0045] 4, a communication unit 411 of a mobile object 410 communicates wirelessly with a communication unit 405 of a management device 404. In this case, communication can be performed using a wireless LAN such as Wi-Fi (registered trademark), Bluetooth (registered trademark), or the like.

[0046] As shown in FIG. 4, a control unit 412 of a mobile object 410 controls the movement of the mobile object 410 based on the route generated by the management device 404 .

[0047] In this way, it is possible to provide a route generation system that generates a route that improves the travel efficiency of a mobile object.

[0048] Furthermore, part or all of the processing in the above-described route generation systems 10, 400 and route generation device 20 can be realized as a computer program. Such a program can be stored on various types of non-transitory computer-readable media and supplied to a computer. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). Furthermore, the program may be supplied to a computer by various types of temporary computer-readable media. Examples of the temporary computer-readable medium include an electric signal, an optical signal, and an electromagnetic wave. The temporary computer-readable medium can provide the program to the computer via a wired communication path such as an electric wire or an optical fiber, or via a wireless communication path.

[0049] The present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the invention.

[0050] Some or all of the above embodiments may be described as, but are not limited to, the following supplementary notes. (Supplementary Note 1) A route generation system comprising: a calculation means for calculating, for each area constituting a location where a moving object moves, a point to be added to a point corresponding to a distance the moving object moves to the area, depending on the frequency with which an obstacle has been present in the area; and a route generation means for generating a route to be traveled by the moving object, depending on the points added to the area. (Supplementary Note 2) The route generation system according to Supplementary Note 1, wherein the calculation means calculates the points to be added so that the greater the number of times the presence or absence of an obstacle in the area changes, the larger the points to be added. (Supplementary Note 3) The route generation system according to Supplementary Note 1 or Supplementary Note 2, wherein the calculation means calculates the points to be added for each time period depending on the frequency with which an obstacle has been present in the area for each time period. (Supplementary Note 4) The route generation system according to any one of Supplementary Notes 1 to 3, wherein the calculation means converts the frequency with which the obstacle has been present in the area into a frequency, and calculates the points to be added so that the greater the high-frequency components included in the converted frequency with which the obstacle has been present in the area, the larger the points to be added. (Supplementary Note 5) The route generation system according to any one of Supplementary Notes 1 to 4, wherein the calculation means adds points based on information about the type of obstacle to the points to be added in accordance with information about the type of the obstacle that existed in the area. (Supplementary Note 6) The route generation system according to any one of Supplementary Notes 1 to 5, wherein the route generation means adds points to an adjacent area adjacent to the area in accordance with the points to be added being greater than a first threshold, thereby generating a route for the moving object to travel, the adjacent area constituting the location to which the moving object will travel. (Supplementary Note 7) The route generation system according to any one of Supplementary Notes 1 to 6, wherein the route generation means regenerates the route for the moving object to travel in accordance with the frequency of the presence of an obstacle present in the area used in calculating the points to be added changing to exceed a second threshold. (Supplementary Note 8) The route generation system according to any one of Supplementary Notes 1 to 7, wherein the obstacles in the area are monitored by a surveillance camera.(Supplementary Note 9) A route generation method comprising: calculating, for each area constituting a location where a moving object moves, points to be added to points corresponding to a distance moved by the moving object to the area according to a frequency at which an obstacle has been present in the area; and generating a route for the moving object to move according to the points added to the area. (Supplementary Note 10) The route generation method according to Supplementary Note 9, wherein the calculation means calculates the points to be added so that the greater the number of times the presence or absence of an obstacle in the area changes, the larger the point to be added. (Supplementary Note 11) The route generation method according to Supplementary Note 9 or Supplementary Note 10, wherein the calculation means calculates the points to be added for each time period according to a frequency at which an obstacle has been present in the area for each time period. (Supplementary Note 12) The route generation method according to any one of Supplementary Notes 9 to 11, wherein the calculation means converts the frequency at which the obstacle has been present in the area into a frequency, and calculates the points to be added so that the greater the high-frequency components included in the converted frequency at which the obstacle has been present in the area, the larger the point to be added. (Supplementary Note 13) The path generation method according to any one of Supplementary Notes 9 to 12, wherein the calculation means adds points based on information about the type of obstacle to the points to be added in accordance with information about the type of the obstacle that existed in the area. (Supplementary Note 14) The path generation method according to any one of Supplementary Notes 9 to 13, wherein, in accordance with the points to be added in the area being greater than a first threshold, points are added to an adjacent area adjacent to the area to generate a path for the moving object, the adjacent area constituting the location to which the moving object moves. (Supplementary Note 15) The path generation method according to any one of Supplementary Notes 9 to 14, wherein, in accordance with the frequency of the presence of an obstacle in the area used in calculating the points to be added changing beyond a second threshold, the path for the moving object is generated again. (Supplementary Note 16) The path generation method according to any one of Supplementary Notes 9 to 15, wherein the obstacles in the area are monitored by a monitoring camera.(Supplementary Note 17) A route generation device comprising: a calculation means for calculating, for each area constituting a location where a mobile object moves, a point to be added to a point corresponding to a distance moved by the mobile object to the area, in accordance with a frequency at which an obstacle has been present in the area; and a route generation means for generating a route to be traveled by the mobile object in accordance with the points added to the area. (Supplementary Note 18) The route generation device according to Supplementary Note 17, wherein the calculation means calculates the point to be added so that the greater the number of times the presence or absence of an obstacle in the area changes, the larger the point to be added. (Supplementary Note 19) The route generation device according to Supplementary Note 17 or Supplementary Note 18, wherein the calculation means calculates the point to be added for each time period in accordance with a frequency at which an obstacle has been present in the area for each time period. (Supplementary Note 20) The route generation device according to any one of Supplementary Notes 17 to 19, wherein the calculation means converts the frequency at which the obstacle has been present in the area into a frequency, and calculates the point to be added so that the greater the high-frequency components included in the converted frequency at which the obstacle has been present in the area, the larger the point to be added. (Supplementary Note 21) The path generation device according to any one of Supplementary Notes 17 to 20, wherein the calculation means adds points based on information about the type of obstacle to the points to be added in accordance with information about the type of the obstacle that existed in the area. (Supplementary Note 22) The path generation device according to any one of Supplementary Notes 17 to 21, wherein the path generation means adds points to an adjacent area adjacent to the area in accordance with the points to be added being greater than a first threshold, thereby generating a path for the moving object to travel, the adjacent area constituting the location to which the moving object travels. (Supplementary Note 23) The path generation device according to any one of Supplementary Notes 17 to 22, wherein the path generation means regenerates the path for the moving object to travel in accordance with the frequency of the presence of an obstacle present in the area used in calculating the points to be added changing to exceed a second threshold. (Supplementary Note 24) The path generation device according to any one of Supplementary Notes 17 to 23, wherein the obstacles in the area are monitored by a monitoring camera.

[0051] 10 Route generation system, 11 Calculation unit, 12 Route generation unit, 20 Route generation device, 21 Calculation unit, 22 Route generation unit, 400 Route generation system, 401 Sensor device, 402 Obstacle information acquisition unit, 403 Communication unit, 404 Management device, 405 Communication unit, 406 Obstacle information storage unit, 407 Obstacle statistics calculation unit, 408 Transportation instruction generation unit, 409 Route generation unit, 410 Mobile body, 411 Communication unit, 412 Control unit, 501 Object, 502 Person, 503 Person, 504 Ground

Claims

1. a calculation means for calculating, for each area constituting a location where the moving object moves, points to be added to points corresponding to the distance the moving object moves to the area in accordance with the frequency of an obstacle being present in the area; and a route generation means for generating a route for the moving object to travel in accordance with the points added to the area.

2. 2. The route generation system according to claim 1, wherein said calculation means calculates the additional points so that the more times the number of times the presence or absence of an obstacle in said area changes, the larger the additional points.

3. The route generation system according to claim 1 , wherein the calculation means calculates the points to be added for each time period in accordance with a frequency with which an obstacle exists in the area for each time period.

4. 2. The path generation system according to claim 1, wherein the calculation means converts the frequency at which the obstacle exists in the area into a frequency, and calculates the number of points to be added so that the more high-frequency components contained in the converted frequency at which the obstacle exists in the area, the larger the number of points to be added.

5. 2. The route generation system according to claim 1, wherein the calculation means adds points based on information about a type of obstacle present in the area to the points to be added, in accordance with information about the type of the obstacle present in the area.

6. the route generation means, when the number of points to be added for the area is greater than a first threshold, adds points to an adjacent area adjacent to the area to generate a route for the moving object; The path generation system according to claim 1 , wherein the adjacent area constitutes the location to which the mobile object travels.

7. 7. The route generation system according to claim 1, wherein the route generation means regenerates the route along which the moving body will move in response to a change in the frequency of the presence of an obstacle in the area used to calculate the points to be added exceeding a second threshold.

8. For each area constituting a location where the moving object moves, a point to be added to the points corresponding to the distance the moving object moves to the area is calculated according to the frequency of an obstacle being present in the area; A route generation method for generating a route for the moving object in accordance with the points added to the area.

9. a calculation means for calculating, for each area constituting a location where the moving object moves, points to be added to points corresponding to the distance the moving object moves to the area in accordance with the frequency of an obstacle being present in the area; and a route generation means for generating a route for the moving object to travel in accordance with the points added to the area.

10. For each area constituting the location where the moving body moves, a point to be added to a point corresponding to a distance moved by the moving body to the area is calculated according to the frequency with which an obstacle exists in the area; A program that causes an information processing device to generate a route for the moving object to travel in accordance with the points added to the area.